Development of quadruped walking robots: A review

Biswal, Priyaranjan; Mohanty, Prases K.

doi:10.1016/j.asej.2020.11.005

Cited by 179 publications

(81 citation statements)

References 40 publications

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“…listed in Tables 1 and 2, respectively, for the simulation experiment. The knee joint driving functions of quadruped robots with full elbow joint are shown in Equations ( 5) and (6).…”

Section: Design Of Quadruped Robots With Variable Parametersmentioning

confidence: 99%

“…As evolved and diverse creatures on land, quadrupeds have many advantages such as high power, adaptability, stability, and load capacity and can reach almost any region on the earth's land [1][2][3][4][5]. Inspired by quadrupeds, a variety of quadruped robots have been designed and built to play a role in a wide range of fields, including military reconnaissance, resource exploration, and disaster relief [6][7][8][9][10]. The study of kinematics and dynamics of quadruped robots has been a hot spot since they were born [11][12][13], especially in walking stability [2,14,15].…”

Section: Introductionmentioning

confidence: 99%

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Stability Study and Simulation of Quadruped Robots with Variable Parameters

Cong

Shi

et al. 2022

Applied Bionics and Biomechanics

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Walking stability is one of the key problems restricting the development of quadruped robots. Two new kinds of variable parameter quadruped robots with high stability were proposed. The two groups of variable parameter models were applied to quadruped robots with the full elbow joint or elbow joint for front legs and knee joint for back legs, respectively, and the stability of their linear motion under different variable parameters was deeply studied by Recurdyn. The quadruped robots with elbow joint for front legs and knee joint for back legs displayed good antijamming ability to lateral impact. According to the rigid-flexible simulation experiment, the largest force occurred in the knee joint during the movement of the quadruped robot. This provided a theoretical basis for the design of real quadruped robots.

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“…listed in Tables 1 and 2, respectively, for the simulation experiment. The knee joint driving functions of quadruped robots with full elbow joint are shown in Equations ( 5) and (6).…”

Section: Design Of Quadruped Robots With Variable Parametersmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Stability Study and Simulation of Quadruped Robots with Variable Parameters

Cong

Shi

et al. 2022

Applied Bionics and Biomechanics

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“…The legged robot has a strong ability to adapt to the environment and has its unique advantages in complex terrain such as mountains, steppes and bogs. Legged robots have been used more and more, especially when performing dangerous tasks (Chen et al, 2021;Biswal et al, 2021). Among the many types of legged robots, the quadruped robot is the most widely used in peoples' lives.…”

Section: Introductionmentioning

confidence: 99%

Simulation and analysis of a single actuated quadruped robot

et al. 2022

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Abstract. In this paper, a leg structure of quadruped robot was designed, based on mechanism synthesis, and aims to allow a system for the complex control of a quadruped robot. This structure is composed of a crank linkage mechanism and quadrilateral mechanism. The innovativeness of this robot is that it can achieve a special gait driven only by single motor. In this research, we set up the kinematic model of leg mechanism through an analytic method. Then we draw the foot track of multiple groups of parameters and select the best parameter group by comparing multiple groups of parameters. After that, the robot model was built and analyzed for its walking ability and climbing ability with virtual prototype technology. Finally, we made an experimental prototype to trial the motion ability of the robot. Simulation and experimental analysis prove that the mechanism is reasonable, reliable and can meet the requirements of linear walking and climbing. The conclusions of this research will be useful for application in the field of single actuated quadruped robots.

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“…Mobile robots had received much attention in the past few years because they could play an important role in rescue operation, space exploration, and so on [1][2][3][4]. Though wheeled and tracked robots could run well in flat terrain, most of them could not adapt to working in complex and cluttered terrain.…”

Section: Introductionmentioning

confidence: 99%

Design of Bionic Buffering and Vibration Reduction Foot for Legged Robots

Cong

Shi

Wang

et al. 2021

Applied Bionics and Biomechanics

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When legged robots walk on rugged roads, they would suffer from strong impact from the ground. The impact would cause the legged robots to vibrate, which would affect their normal operation. Therefore, it is necessary to take measures to absorb impact energy and reduce vibration. As an important part of a goat’s foot, the hoof capsule can effectively buffer the impact from the ground in the goat’s running and jumping. The structure of the hoof capsules and its principle of buffering and vibration reduction were studied. Inspired by the unique shape and internal structure of the hoof capsules, a bionic foot was designed. Experimental results displayed that the bionic foot could effectively use friction to consume impact energy and ensured the stability of legged robot walking. In addition, the bionic foot had a lower natural vibration frequency, which was beneficial to a wide range of vibration reduction. This work brings a new solution to the legged robot to deal with the ground impact, which helps it adapt to a variety of complex terrain.

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Development of quadruped walking robots: A review

Cited by 179 publications

References 40 publications

Stability Study and Simulation of Quadruped Robots with Variable Parameters

Stability Study and Simulation of Quadruped Robots with Variable Parameters

Simulation and analysis of a single actuated quadruped robot

Design of Bionic Buffering and Vibration Reduction Foot for Legged Robots

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